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<div class="title">D:/Workspace/Arduino/prencar/MoveBackToLine.cpp</div>  </div>
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<a href="_move_back_to_line_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#include &quot;Arduino.h&quot;</span>
<a name="l00002"></a>00002 <span class="preprocessor">#include &quot;<a class="code" href="_move_back_to_line_8h.html">MoveBackToLine.h</a>&quot;</span>
<a name="l00003"></a>00003 <span class="preprocessor">#include &quot;<a class="code" href="_move_8h.html">Move.h</a>&quot;</span>
<a name="l00004"></a>00004 <span class="preprocessor">#include &quot;<a class="code" href="_configuration_8h.html">Configuration.h</a>&quot;</span>
<a name="l00005"></a>00005 
<a name="l00009"></a><a class="code" href="class_move_back_to_line.html#a703b0c91750c6cb4a1203aa8e83452be">00009</a> <a class="code" href="class_move_back_to_line.html#a703b0c91750c6cb4a1203aa8e83452be">MoveBackToLine::MoveBackToLine</a>()
<a name="l00010"></a>00010 {
<a name="l00011"></a>00011 
<a name="l00012"></a>00012 }
<a name="l00013"></a>00013 
<a name="l00019"></a><a class="code" href="class_move_back_to_line.html#ab5f8b99d6379511c6ed09b4f50432641">00019</a> <span class="keywordtype">void</span> <a class="code" href="class_move_back_to_line.html#ab5f8b99d6379511c6ed09b4f50432641">MoveBackToLine::begin</a>(){
<a name="l00020"></a>00020   <a class="code" href="class_move_back_to_line.html#ab5f8b99d6379511c6ed09b4f50432641">LineFollow::begin</a>();
<a name="l00021"></a>00021   <a class="code" href="class_move_back_to_line.html#a0646d987470af65de0848c93d4101e7f">lineCenter</a>.<a class="code" href="class_line_center.html#a13e69abdd08c2da81f189e69642d980d">begin</a>();
<a name="l00022"></a>00022 
<a name="l00023"></a>00023   <a class="code" href="class_move_back_to_line.html#a84fbbb886c4d7e2433f66d15e94c9045" title="The reference to the extended move class.">_extMove</a> = <a class="code" href="class_extended_move.html#a8ba9c560726a121efa0c78f26780e46a">ExtendedMove::getInstance</a>();
<a name="l00024"></a>00024 
<a name="l00025"></a>00025   <a class="code" href="class_move_back_to_line.html#a688a4ed1c80d6e0b419e30fcca9534d7" title="This variable is set to true as soon as the line has been reached but the car is not yet centered...">lineHasBeenReached</a> = <span class="keyword">false</span>;
<a name="l00026"></a>00026   <a class="code" href="class_move_back_to_line.html#ab26ab46222db08890998a00b9475bf50" title="Will be set to true as soon as the car is back on the line and the line centering process has finishe...">isBackOnLine</a> = <span class="keyword">false</span>;
<a name="l00027"></a>00027   <a class="code" href="class_move_back_to_line.html#a281d9785e63b445e7b77a6b3d5a63a19" title="Set to true if no cube approach information has been found.">errorNoCubeApproachInformation</a> = <span class="keyword">false</span>;
<a name="l00028"></a>00028   <a class="code" href="class_move_back_to_line.html#abbdf24358628d0b06eb9969fc1d88135">_reachingLineFromLeft</a> = <span class="keyword">true</span>;
<a name="l00029"></a>00029 }
<a name="l00030"></a>00030 
<a name="l00034"></a><a class="code" href="class_move_back_to_line.html#a8b48709e127b00072dcce276cff5055b">00034</a> <span class="keywordtype">void</span> <a class="code" href="class_move_back_to_line.html#a8b48709e127b00072dcce276cff5055b">MoveBackToLine::startIt</a>(<a class="code" href="class_cube_approach.html">CubeApproach</a>* <a class="code" href="_state_machine_8h.html#ad5f3c64cf1a6afd0af12270f4a539ce8ae0dc916c0e29132e7162d68bfd586d1f">cubeApproach</a>){
<a name="l00035"></a>00035   <a class="code" href="class_move_back_to_line.html#a5e5f03cfd5a5f8c4aa4baf179a4f4507">_timeMoveBackToLineStarted</a> = millis();
<a name="l00036"></a>00036   <a class="code" href="class_move_back_to_line.html#a688a4ed1c80d6e0b419e30fcca9534d7" title="This variable is set to true as soon as the line has been reached but the car is not yet centered...">lineHasBeenReached</a> = <span class="keyword">false</span>;
<a name="l00037"></a>00037   <a class="code" href="class_move_back_to_line.html#ab26ab46222db08890998a00b9475bf50" title="Will be set to true as soon as the car is back on the line and the line centering process has finishe...">isBackOnLine</a> = <span class="keyword">false</span>;
<a name="l00038"></a>00038   <a class="code" href="class_move_back_to_line.html#a281d9785e63b445e7b77a6b3d5a63a19" title="Set to true if no cube approach information has been found.">errorNoCubeApproachInformation</a> = <span class="keyword">false</span>;
<a name="l00039"></a>00039   <a class="code" href="class_move_back_to_line.html#a55c0781433a2d6821e809326870d48fb" title="Reference to a cube approach class with information about how to get back to the line.">_cubeApproach</a> = <a class="code" href="_state_machine_8h.html#ad5f3c64cf1a6afd0af12270f4a539ce8ae0dc916c0e29132e7162d68bfd586d1f">cubeApproach</a>;
<a name="l00040"></a>00040   <a class="code" href="class_move_back_to_line.html#abbdf24358628d0b06eb9969fc1d88135">_reachingLineFromLeft</a> = <span class="keyword">true</span>;
<a name="l00041"></a>00041 
<a name="l00042"></a>00042   <span class="comment">//first check, if the cube approach object has some valid information in it</span>
<a name="l00043"></a>00043   <span class="keywordflow">if</span>(<a class="code" href="class_move_back_to_line.html#a55c0781433a2d6821e809326870d48fb" title="Reference to a cube approach class with information about how to get back to the line.">_cubeApproach</a>-&gt;<a class="code" href="class_cube_approach.html#a6c44784cf83ba56f87895bb5c841e7df" title="Counter that is increased each time the cube is detected by either the left or the right sensor...">amountOfCubeDetections</a> == 0){
<a name="l00044"></a>00044     <a class="code" href="class_line_follow.html#a8c494126e578f00240532b866b051718" title="The reference to the serial communication class.">_com</a>-&gt;<a class="code" href="class_communication.html#a8679b3cb7ceef5527faa24454ce0f18a">send</a>(153);
<a name="l00045"></a>00045     <a class="code" href="class_move_back_to_line.html#a281d9785e63b445e7b77a6b3d5a63a19" title="Set to true if no cube approach information has been found.">errorNoCubeApproachInformation</a> = <span class="keyword">true</span>;
<a name="l00046"></a>00046     <span class="keywordflow">return</span>;
<a name="l00047"></a>00047   }
<a name="l00048"></a>00048 
<a name="l00049"></a>00049   <span class="comment">//second check, if the first detection already has found the cube with both sensors (CubeDetection::cubeIsCentered = true)</span>
<a name="l00050"></a>00050   <span class="keywordflow">if</span>(<a class="code" href="class_move_back_to_line.html#a55c0781433a2d6821e809326870d48fb" title="Reference to a cube approach class with information about how to get back to the line.">_cubeApproach</a>-&gt;<a class="code" href="class_cube_approach.html#aeac3597ee8adcaf33fbf1a523de7c8e9">cubeDetections</a>[0].<a class="code" href="struct_cube_detection.html#a39d38b7af04517aac94a41958e12f656" title="Set to true if the cube has been detected with both bottom sensors at this detection.">cubeIsCentered</a>){
<a name="l00051"></a>00051     <a class="code" href="class_line_follow.html#a8c494126e578f00240532b866b051718" title="The reference to the serial communication class.">_com</a>-&gt;<a class="code" href="class_communication.html#a8679b3cb7ceef5527faa24454ce0f18a">send</a>(154);
<a name="l00052"></a>00052     <a class="code" href="class_move_back_to_line.html#a281d9785e63b445e7b77a6b3d5a63a19" title="Set to true if no cube approach information has been found.">errorNoCubeApproachInformation</a> = <span class="keyword">true</span>;
<a name="l00053"></a>00053     <span class="keywordflow">return</span>;
<a name="l00054"></a>00054   }
<a name="l00055"></a>00055 
<a name="l00056"></a>00056   <span class="comment">//third check, if the car has left the line to the right or to the left side and make the command ready.</span>
<a name="l00057"></a>00057   <a class="code" href="struct_move_command.html">MoveCommand</a>* mc = <a class="code" href="class_move_back_to_line.html#a84fbbb886c4d7e2433f66d15e94c9045" title="The reference to the extended move class.">_extMove</a>-&gt;<a class="code" href="class_extended_move.html#a5f34e9081613ec4d1796cac234b9cbb5" title="Current queue with commands that are executed.">commandQueue</a>;
<a name="l00058"></a>00058   mc[0].<a class="code" href="struct_move_command.html#ada8cf3cf629ff7847de2844abb8db7ad" title="Defines for how long this command shall be executed (milliseconds).">duration</a> = <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a86403c15f4b19c03c69c00a80ff3a7ae" title="Duration of the 1st turn to move / rotate the car in direction where the line is.">moveBackToLine1stTurnDuration</a>;
<a name="l00059"></a>00059   mc[0].<a class="code" href="struct_move_command.html#a88e7e4c62bf65a3cf306ff587dd8b55b">dirLeftMotor</a> = <a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02af97e0b201a2ce53937529fe1869f76e1" title="The motor rotates forward or backwards depending on the speed set: positive int value --&gt; forward...">valueDependant</a>;
<a name="l00060"></a>00060   mc[0].<a class="code" href="struct_move_command.html#a645219cea821358f4a3ae7c8e2192ed9">dirRightMotor</a> = <a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02af97e0b201a2ce53937529fe1869f76e1" title="The motor rotates forward or backwards depending on the speed set: positive int value --&gt; forward...">valueDependant</a>;
<a name="l00061"></a>00061   <span class="keywordflow">if</span>(<a class="code" href="class_move_back_to_line.html#a55c0781433a2d6821e809326870d48fb" title="Reference to a cube approach class with information about how to get back to the line.">_cubeApproach</a>-&gt;<a class="code" href="class_cube_approach.html#aeac3597ee8adcaf33fbf1a523de7c8e9">cubeDetections</a>[0].<a class="code" href="struct_cube_detection.html#ab04af3b4a2e12f918532d92513f3f0dd" title="Set to true if the car has turned right after this detection.">turnedRight</a>){
<a name="l00062"></a>00062     mc[0].<a class="code" href="struct_move_command.html#a6ab4371e644543e7d92dd4f5439998d0">speedLeftMotor</a> = <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a3dc51cbab46e700385d6d4311772b7d3" title="Speed of the left motor during the 1st turn (can be a negative) in case of a left turn...">moveBackToLine1stLeftTurnLeftSpeed</a>;
<a name="l00063"></a>00063     mc[0].<a class="code" href="struct_move_command.html#aa573be1cf5e1dc2cb21bed08980d379c">speedRightMotor</a> = <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a8c6e050f962f77e3a2f5ab2865a398a0" title="Speed of the right motor during the 1st turn (can be a negative) in case of a left turn...">moveBackToLine1stLeftTurnRightSpeed</a>;
<a name="l00064"></a>00064     <a class="code" href="class_move_back_to_line.html#abbdf24358628d0b06eb9969fc1d88135">_reachingLineFromLeft</a> = <span class="keyword">false</span>;
<a name="l00065"></a>00065   }
<a name="l00066"></a>00066   <span class="keywordflow">else</span> <span class="keywordflow">if</span>(<a class="code" href="class_move_back_to_line.html#a55c0781433a2d6821e809326870d48fb" title="Reference to a cube approach class with information about how to get back to the line.">_cubeApproach</a>-&gt;<a class="code" href="class_cube_approach.html#aeac3597ee8adcaf33fbf1a523de7c8e9">cubeDetections</a>[0].<a class="code" href="struct_cube_detection.html#a76e665b130c62b29bd22af9f93525ce5" title="Set to true if the car has turned left after this detection.">turnedLeft</a>){
<a name="l00067"></a>00067     mc[0].<a class="code" href="struct_move_command.html#a6ab4371e644543e7d92dd4f5439998d0">speedLeftMotor</a> = <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a3270e1fdebe3b98878d7f3a02837ddb0" title="Speed of the left motor during the 1st turn (can be a negative) in case of a left turn...">moveBackToLine1stRightTurnLeftSpeed</a>;
<a name="l00068"></a>00068     mc[0].<a class="code" href="struct_move_command.html#aa573be1cf5e1dc2cb21bed08980d379c">speedRightMotor</a> = <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a3270e1fdebe3b98878d7f3a02837ddb0" title="Speed of the left motor during the 1st turn (can be a negative) in case of a left turn...">moveBackToLine1stRightTurnLeftSpeed</a>;
<a name="l00069"></a>00069     <a class="code" href="class_move_back_to_line.html#abbdf24358628d0b06eb9969fc1d88135">_reachingLineFromLeft</a> = <span class="keyword">true</span>;
<a name="l00070"></a>00070   }
<a name="l00071"></a>00071   <span class="keywordflow">else</span>{
<a name="l00072"></a>00072     <span class="comment">//should never happen</span>
<a name="l00073"></a>00073     <a class="code" href="class_line_follow.html#a8c494126e578f00240532b866b051718" title="The reference to the serial communication class.">_com</a>-&gt;<a class="code" href="class_communication.html#a8679b3cb7ceef5527faa24454ce0f18a">send</a>(155);
<a name="l00074"></a>00074     <a class="code" href="class_move_back_to_line.html#a281d9785e63b445e7b77a6b3d5a63a19" title="Set to true if no cube approach information has been found.">errorNoCubeApproachInformation</a> = <span class="keyword">true</span>;
<a name="l00075"></a>00075     <span class="keywordflow">return</span>;
<a name="l00076"></a>00076   }
<a name="l00077"></a>00077 
<a name="l00078"></a>00078   mc[1].<a class="code" href="struct_move_command.html#ada8cf3cf629ff7847de2844abb8db7ad" title="Defines for how long this command shall be executed (milliseconds).">duration</a> = 10000; <span class="comment">//just long enough</span>
<a name="l00079"></a>00079   mc[1].<a class="code" href="struct_move_command.html#a88e7e4c62bf65a3cf306ff587dd8b55b">dirLeftMotor</a> = <a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02a726a0af5164861adac8c015a742dcf21" title="The motor rotates forward.">forward</a>;
<a name="l00080"></a>00080   mc[1].<a class="code" href="struct_move_command.html#a6ab4371e644543e7d92dd4f5439998d0">speedLeftMotor</a> = <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#ac0f336a0ff78c823cf2fb2cea90237ed" title="Speed of the car when it drives straight back to the line.">moveBackToLineStraightSpeed</a>;
<a name="l00081"></a>00081   mc[1].<a class="code" href="struct_move_command.html#a645219cea821358f4a3ae7c8e2192ed9">dirRightMotor</a> = <a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02a726a0af5164861adac8c015a742dcf21" title="The motor rotates forward.">forward</a>;
<a name="l00082"></a>00082   mc[1].<a class="code" href="struct_move_command.html#aa573be1cf5e1dc2cb21bed08980d379c">speedRightMotor</a> = <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#ac0f336a0ff78c823cf2fb2cea90237ed" title="Speed of the car when it drives straight back to the line.">moveBackToLineStraightSpeed</a>;
<a name="l00083"></a>00083 
<a name="l00084"></a>00084   <a class="code" href="class_move_back_to_line.html#a84fbbb886c4d7e2433f66d15e94c9045" title="The reference to the extended move class.">_extMove</a>-&gt;<a class="code" href="class_extended_move.html#a816f77b595c0ca03d44dd21b2d4de5ba">startCurrentQueue</a>(2);
<a name="l00085"></a>00085 }
<a name="l00086"></a>00086 
<a name="l00093"></a><a class="code" href="class_move_back_to_line.html#a2481a81f7c90dee23d229911c8821e65">00093</a> <span class="keywordtype">void</span> <a class="code" href="class_move_back_to_line.html#a2481a81f7c90dee23d229911c8821e65">MoveBackToLine::doJob</a>(){
<a name="l00094"></a>00094   <span class="keywordflow">if</span>((<a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#aee51769c3d69df9f58b55107f033dad4" title="Interval in which during driving back to the line the line sensors shall be checked.">moveBackToLineInterval</a> == 0 || millis() &gt; <a class="code" href="class_move_back_to_line.html#a01f22d109c4c4d7e3596f6014ed96a5f" title="Holds the timestamp of the time when the last &quot;move back to line&quot; check was done.">_timeLastMoveBackToLineCheck</a> + <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#aee51769c3d69df9f58b55107f033dad4" title="Interval in which during driving back to the line the line sensors shall be checked.">moveBackToLineInterval</a>) &amp;&amp; !<a class="code" href="class_move_back_to_line.html#a688a4ed1c80d6e0b419e30fcca9534d7" title="This variable is set to true as soon as the line has been reached but the car is not yet centered...">lineHasBeenReached</a>){
<a name="l00095"></a>00095     <a class="code" href="class_move_back_to_line.html#a01f22d109c4c4d7e3596f6014ed96a5f" title="Holds the timestamp of the time when the last &quot;move back to line&quot; check was done.">_timeLastMoveBackToLineCheck</a> = millis();
<a name="l00096"></a>00096 
<a name="l00097"></a>00097     <span class="comment">//check the left or right line sensor (depending on _reachingLineFromLeft)</span>
<a name="l00098"></a>00098     <span class="keywordtype">int</span> sensorValues[2];
<a name="l00099"></a>00099     <a class="code" href="class_line_follow.html#af85fe355ee0699cabc3c817d10aa8b9d">readLineSensors</a>(sensorValues);
<a name="l00100"></a>00100     <span class="keywordflow">if</span>((sensorValues[0] &lt; <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#ab86a9d57799e36b0b985ad3b2e3bbfcd" title="Threshold value from black to white.">whiteThresholdLineSensors</a> &amp;&amp; <a class="code" href="class_move_back_to_line.html#abbdf24358628d0b06eb9969fc1d88135">_reachingLineFromLeft</a>) || (sensorValues[1] &lt; <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#ab86a9d57799e36b0b985ad3b2e3bbfcd" title="Threshold value from black to white.">whiteThresholdLineSensors</a> &amp;&amp; !<a class="code" href="class_move_back_to_line.html#abbdf24358628d0b06eb9969fc1d88135">_reachingLineFromLeft</a>)){
<a name="l00101"></a>00101       <span class="keywordtype">long</span> parameters[2];
<a name="l00102"></a>00102       parameters[0] = sensorValues[0];
<a name="l00103"></a>00103       parameters[1] = sensorValues[1];
<a name="l00104"></a>00104       <a class="code" href="class_line_follow.html#a8c494126e578f00240532b866b051718" title="The reference to the serial communication class.">_com</a>-&gt;<a class="code" href="class_communication.html#a8679b3cb7ceef5527faa24454ce0f18a">send</a>(93, parameters, 2);
<a name="l00105"></a>00105       <a class="code" href="class_move_back_to_line.html#a84fbbb886c4d7e2433f66d15e94c9045" title="The reference to the extended move class.">_extMove</a>-&gt;<a class="code" href="class_extended_move.html#ae80076eb8ea7ea00e7563e4bbf4657b6">stopCurrentQueue</a>();
<a name="l00106"></a>00106       <a class="code" href="class_move_back_to_line.html#a688a4ed1c80d6e0b419e30fcca9534d7" title="This variable is set to true as soon as the line has been reached but the car is not yet centered...">lineHasBeenReached</a> = <span class="keyword">true</span>;
<a name="l00107"></a>00107       <a class="code" href="class_move_back_to_line.html#a0646d987470af65de0848c93d4101e7f">lineCenter</a>.<a class="code" href="class_line_center.html#a736d4cd402c6dc398b374cae8aab5740">startIt</a>(<a class="code" href="class_move_back_to_line.html#abbdf24358628d0b06eb9969fc1d88135">_reachingLineFromLeft</a>);
<a name="l00108"></a>00108     }
<a name="l00109"></a>00109   }
<a name="l00110"></a>00110 
<a name="l00111"></a>00111   <span class="comment">//line centering needs to be done after the line has been reached.</span>
<a name="l00112"></a>00112   <span class="keywordflow">if</span>(<a class="code" href="class_move_back_to_line.html#a688a4ed1c80d6e0b419e30fcca9534d7" title="This variable is set to true as soon as the line has been reached but the car is not yet centered...">lineHasBeenReached</a>){
<a name="l00113"></a>00113     <a class="code" href="class_move_back_to_line.html#a0646d987470af65de0848c93d4101e7f">lineCenter</a>.<a class="code" href="class_line_center.html#aa466b77cad70e564633e106efde81d4f">doJob</a>();
<a name="l00114"></a>00114     <span class="keywordflow">if</span>(<a class="code" href="class_move_back_to_line.html#a0646d987470af65de0848c93d4101e7f">lineCenter</a>.<a class="code" href="class_line_center.html#a56e3c04c97ecffaa6cd16a16d37992bc" title="This variable is set to true as soon as the car is centered completely.">lineCenteringIsFinished</a>){
<a name="l00115"></a>00115       <a class="code" href="class_move_back_to_line.html#ab26ab46222db08890998a00b9475bf50" title="Will be set to true as soon as the car is back on the line and the line centering process has finishe...">isBackOnLine</a> = <span class="keyword">true</span>;
<a name="l00116"></a>00116     }
<a name="l00117"></a>00117   }
<a name="l00118"></a>00118 }
<a name="l00119"></a>00119 
<a name="l00120"></a>00120 
<a name="l00121"></a>00121 
<a name="l00122"></a>00122 
<a name="l00123"></a>00123 
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